Inspired by the snake locomotion, modular snake robots have different locomotion capabilities by
coordinating their internal degrees of freedom. They have the potential to access restricted spaces where
humans cannot go. They can also traverse rough terrains while conventional wheeled and legged robots
cannot. Modular robots have other features including versatility, robustness, low-cost, and fast-prototyping.
We have built our first prototype that costs less than $200. In this paper, we describe the electronics
architecture of our prototyped robot, and present a model for the locomotion of pitch-yaw snake robots that
allows them to perform different gaits. Each mode of the robot is controlled by a sinusoidal oscillator with
four parameters: amplitude, frequency, phase, and offset. We show the parameters that achieve snake-like
locomotion.

Proposed are techniques toward using collaborative robots for infrastructure security applications by utilizing
them for mobile sensor suites. A vast number of critical facilities/technologies must be protected against unauthorized
intruders. Employing a team of mobile robots working cooperatively can alleviate valuable human
resources. Addressed are the technical challenges for multi-robot teams in security applications and the implementation
of multi-robot motion planning algorithm based on the patrolling and threat response scenario. A
neural network based methodology is exploited to plan a patrolling path with complete coverage. Also described
is a proof-of-principle experimental setup with a group of Pioneer 3-AT and Centibot robots. A block diagram
of the system integration of sensing and planning will illustrate the robot to robot interaction to operate as
a collaborative unit. The proposed approach singular goal is to overcome the limits of previous approaches of
robots in security applications and enabling systems to be deployed for autonomous operation in an unaltered
environment providing access to an all encompassing sensor suite.

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Journal of Applied Remote SensingJournal of Astronomical Telescopes Instruments and SystemsJournal of Biomedical OpticsJournal of Electronic ImagingJournal of Medical ImagingJournal of Micro/Nanolithography, MEMS, and MOEMSJournal of NanophotonicsJournal of Photonics for EnergyNeurophotonicsOptical EngineeringSPIE Reviews